Your robot moves based on positional data. It can not move based on a torque setting.
Your getting the shock alarm because the robot believes it is "hitting" something (crashing). You can adjust the shock settings for this axis.... you would need to make it higher.
100 is default and I never recommend you go above. You will have to see what your tripping out at... if it is very high then you will need to find another way otherwise you risk damage to the arm.